Save a soft body animation
The "blender game" mode (game engine) can record animations paths for objects, even as soft bodies, but it can be a bit different from the standard "soft bodies" you get in "blender render" mode.

A basic example:


open a standard blend file (cube)
change to "blender game" mode (pick it form the upper header list)
the menu at the left of the engine selection (which you just selected) now has a "game" item: expand it and activate the "record animation" flag
now select the cube
on the right object panels, go to the physics (bouncing ball icon)
choose "soft bodies" as physics type
press P
the cube falls
when the cube has fallen enough, stop the "game", pressing ESC
the cube is back to start position
now switch the viewport to f-curve (graph editor)
you see the f-curve recorded for the fallen cube:
now change the mode to "blender render" or "cycles render" and use that recorded animation as you wish...


you may have to experiment a bit to get desired behaviour for the soft body and other objects in the scene, but the "blender game" will record everything for you! 

manual reference: http://www.blender.org/manual/game_engine/physics/introduction.html#recording-to-keyframes